D. Hähnel, W. Burgard, and S. Thrun
Learning Compact 3D
Models of Indoor and Outdoor Environments with a Mobile
Robot
Robotics and Autonomous Systems, 44 (1), pp. 15-27, 2003.
Abstract
This paper presents an algorithm for full 3d shape reconstruction of indoor
and outdoor environments with mobile robots. Data is acquired with laser range
finders installed on a mobile robot. Our approach combines efficient scan
matching routines for robot pose estimation with an algorithm for
approximating environments using flat surfaces. On top of that, our approach
includes a mesh simplification technique to reduce the complexity of the
resulting models. In extensive experiments, our method is shown to produce
accurate models of indoor and outdoor environments that compare favorably to
other methods.
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Bibtex
@ARTICLE{Haehnel033d,
AUTHOR = {H{\"a}hnel, D. and Burgard, W. and Thrun, S.},
TITLE = {Learning Compact 3D
Models of Indoor and Outdoor Environments with a Mobile
Robot},
YEAR = {2003},
journal = {Robotics and Autonomous Systems},
volume = {44},
number = {1},
pages = {15-27},
}